for some \(\mathbf {K} \in \mathbb {R}^{m \times n}\)  [1]}.
Furthermore, if the linearized system \((\mathbf {A}, \mathbf {B})\)  is stabilizable and if \(\mathbf {A} - \mathbf {B}\mathbf {K}\)  is Hurwitz, then the closed-loop system
\(\mathbf {x}[i+1] = f(\mathbf {x}[i], u_{\textnormal {LQR}}(\mathbf {x}[i])),\) 
